CN110460281B - Three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method - Google Patents

Three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method Download PDF

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CN110460281B
CN110460281B CN201910240822.XA CN201910240822A CN110460281B CN 110460281 B CN110460281 B CN 110460281B CN 201910240822 A CN201910240822 A CN 201910240822A CN 110460281 B CN110460281 B CN 110460281B
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permanent magnet
value
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CN110460281A (en
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於锋
朱晨光
吴晓新
田朱杰
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Nantong University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

本发明的一种三电平永磁同步电机双矢量模型预测磁链控制方法，首先获取k时刻的三相电流、转子电角度、转子电角速度以及给定转和参考磁链；然后计算k+1时刻负载角增量及负载角参考值并获取k+1时刻磁链dq轴的参考分量，再判断k+1时刻参考矢量的位置来进行区间选择；然后计算k+1时刻磁链dq轴的预测分量，通过价值函数选出使价值函数最小的电压矢量；然后进行中点电位平衡处理，选出最优电压矢量；最后计算最优电压矢量占空比，输出最优电压矢量对应的逆变器开关状态。本发明的价值函数中不存在权重系数，而且只需从三个电压矢量中进行选优，减少了运算时间同时兼顾了中点电位的平衡，而且通过双矢量作用有效的减小了转矩脉动。

Figure 201910240822

A three-level permanent magnet synchronous motor double vector model prediction flux linkage control method of the present invention, firstly obtains the three-phase current, rotor electrical angle, rotor electrical angular velocity, given rotation and reference flux linkage at time k at time k; then calculates k+ Load angle increment and load angle reference value at time 1 and obtain the reference component of the flux linkage dq axis at time k+1, and then judge the position of the reference vector at time k+1 to select the interval; then calculate the flux linkage dq axis at time k+1 The predicted component of the value function is used to select the voltage vector that minimizes the value function; then the midpoint potential balance process is performed to select the optimal voltage vector; finally, the duty cycle of the optimal voltage vector is calculated, and the inverse corresponding to the optimal voltage vector is output. Inverter switch status. There is no weight coefficient in the value function of the present invention, and it only needs to be selected from three voltage vectors, which reduces the operation time and takes into account the balance of the mid-point potential, and effectively reduces the torque ripple through the action of double vectors .

Figure 201910240822

Description

Three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method
Technical Field
The invention relates to a double-vector model prediction flux linkage control method for a three-level permanent magnet synchronous motor, and belongs to the field of motor driving and control.
Background
The IPMSM (Interior permanent magnet synchronous motor) has the advantages of simple structure, small volume, high efficiency, high power factor and the like, and is widely applied to the fields of metallurgy, ceramics, petroleum, textile, automobiles and the like. The conventional control method for the permanent magnet synchronous motor mainly includes Vector Control (VC) and Direct Torque Control (DTC). The basic idea of vector control is to decompose the stator current of a three-phase alternating current motor into an excitation current component and a torque current component through vector transformation, to enable the two components to be perpendicular to each other and independent of each other, and then to be respectively adjusted to obtain the dynamic characteristics as good as those of a direct current motor, but the problems of complex coordinate transformation, large dependence on motor parameters, difficulty in ensuring complete decoupling and the like exist; the direct torque control scheme abandons the decoupling control idea and the current feedback link in vector control, adopts a stator flux linkage orientation method, has the advantages of simple structure, fast torque response and the like, and also has the defects of poor low-speed performance, high real-time requirement, large calculated amount and the like. Therefore, in order to further improve the control performance of the system, researchers have attracted extensive attention to Model Predictive Torque Control (MPTC).
The MPTC obtains the optimal voltage vector by solving a cost function in real time and an online optimization idea, and can improve the dynamic response performance of a system and reduce torque ripple. Due to the wide prospect of the MPTC strategy in the application field of the permanent magnet synchronous motor, many researchers at home and abroad are dedicated to the improvement and research of the MPTC. However, the conventional MPTC method needs to design a weight coefficient, and the design of the weight coefficient lacks a unified guiding strategy, so a Model Predictive Flux Control (MPFC) is proposed by improving and converting the MPTC strategy, and by converting the simultaneous control of the stator flux and the electromagnetic torque into the control of an equivalent stator flux complex vector, the weight coefficient is eliminated, and the complexity of the algorithm is reduced. However, for the conventional three-level inverter model predictive flux linkage control, the operation burden of the system is greatly increased due to the existence of 27 alternative basic voltage vectors, and meanwhile, due to the adoption of single vector control, larger torque and current ripple also exist, which is unfavorable for the improvement of the system performance.
Disclosure of Invention
The technical problem is as follows: aiming at the prior art, the method for controlling the flux linkage of the three-level permanent magnet synchronous motor through the double-vector model prediction is provided, so that the torque ripple can be effectively reduced, the calculation amount is reduced, and the balance of the midpoint potential is considered.
The technical scheme is as follows: a double-vector model prediction flux linkage control method for a three-level permanent magnet synchronous motor comprises the following steps: firstly, a reference torque T is obtained according to a rotating speed loop PI controllere ref(ii) a Then obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrAnd electrical angular velocity ωrAnd obtaining three-phase stator current i at the time ka、ibAnd icObtaining alpha-beta component i of stator current at time k through Clark conversionαAnd iβAnd obtaining a d-q component i of the stator current at the moment k after Park conversiondAnd iq(ii) a Then, a stator flux linkage and torque calculation module is used for acquiring a flux linkage measured value psi at the time ks(k) An included angle delta (k) with the d axis; then, a reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is calculated by a given flux linkage calculation module* d(k+1)、ψ* q(k + 1); then, a predicted value psi of flux linkage at d-q coordinate at moment k +1 is obtained through a stator flux linkage prediction moduled(k+1)、ψq(k + 1); then, obtaining an optimal voltage vector by minimizing a cost function and balancing a midpoint potential; and finally, calculating the optimal voltage vector duty ratio under the condition that the predicted value of the flux linkage reaches the reference value at the moment k + 1.
Further, the reference speed
Figure BDA0002009576560000021
With the actual speed omegarDifference e ofnAn input rotation speed loop PI controller for obtaining the reference torque T according to the formula (1)e ref；
Figure BDA0002009576560000022
Wherein k ispAnd kiRespectively, proportional gain and integral gain of the rotating speed PI controller, and s is a complex variable.
Further, the electrical angle theta of the permanent magnet synchronous motor is obtained from the encoderrThen, the electrical angle theta is obtained through the formula (2)rWith respect to the differentiation of time, an electrical angular velocity ω is obtainedr(ii) a Remeasure permanent magnet synchronous motor k moment three-phase stator current ia、ibAnd icObtaining alpha-beta component i of stator current at the moment k after Clark conversion of formula (3)αAnd iβObtaining d-q component i of stator current at the moment k through Park conversion of formula (4)dAnd iq；
Figure BDA0002009576560000023
Figure BDA0002009576560000024
Figure BDA0002009576560000025
Further, the flux linkage measurement value psi at the time ks(k) The method for obtaining the included angle delta (k) between the d axis and the d axis comprises the following steps: firstly, calculating a k time magnetic linkage measurement value psi in d-q coordinates according to formula (5)sd(k) And psisq(k) (ii) a Then, the k time flux linkage measurement value psi under the alpha-beta coordinate is obtained through the inverse Park transformation of the formula (6)sα(k) And psisβ(k) (ii) a Then, the measured value psi of the magnetic linkage at the k moment is obtained according to the formula (7)s(k) Angle theta with alpha axiss(ii) a Finally, the measured value psi of the flux linkage at the time k can be obtained according to the formula (8)s(k) An included angle delta (k) with the d axis;
Figure BDA0002009576560000031
Figure BDA0002009576560000032
Figure BDA0002009576560000033
δ(k)＝θs-θr (8)
wherein L isd、LqD-q axis inductance components, respectively; psifRepresents a permanent magnet flux linkage;
Figure BDA0002009576560000034
respectively, the current components at the d-q coordinates at time k.
Further, the reference value ψ of the flux linkage at the d-q coordinate at the time k +1 is calculated by giving the flux linkage calculation module* d(k+1)、ψ* qThe method of (k +1) is: determining the flux linkage reference value psi at the time k +1 according to the formula (10)* sThe (k +1) and the reference value psi of the flux linkage at the time k* s(k) An increment angle Δ δ (k +1) therebetween; then, the reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is obtained according to the formula (11)* d(k+1)、ψ* q(k+1)；
Figure BDA0002009576560000035
Figure BDA0002009576560000036
Wherein n ispRepresenting the pole pair number of the permanent magnet synchronous motor; t ise(k) Representing the torque measurement at time k.
Further, the predicted value psi of flux linkage at d-q coordinate at moment k +1 is obtained by the stator flux linkage prediction moduled(k +1) and ψqThe method of (k +1) is:
the first step is as follows: calculating a voltage reference value u under an alpha-beta coordinate system at the moment k +1 according to a formula (12)sα ref(k +1) and usβ ref(k+1)；
Figure BDA0002009576560000037
Wherein, TsRepresents the sampling period of the system; rsRepresenting the stator resistance;
the second step is that: calculating the k +1 time theta according to the equations (13) and (14)sReference value thetas ref(k+1)；
Figure BDA0002009576560000041
Order to
Figure BDA0002009576560000042
Then:
Figure BDA0002009576560000043
equally dividing the space voltage vector into 12 intervals by taking 30 degrees as intervals, and selecting a large vector, a negative small vector and a medium vector as alternative vectors in each interval; according to thetas refJudging the interval of the reference vector according to the value of (k +1), and then judging the interval of the reference vector according to thetas refThe value of (k +1) judges the section where the reference vector is located;
the third step: the predicted value ψ of the flux linkage at the time point k +1 and the d-q coordinates is obtained from the candidate vector of the section in which the reference vector is located by the equations (15), (16), (17) and (18)d(k +1) and ψq(k+1)；
Figure BDA0002009576560000044
Figure BDA0002009576560000045
Figure BDA0002009576560000046
Figure BDA0002009576560000047
Wherein u issα(k)、usβ(k) Representing the voltage component at time k in the alpha-beta coordinate; vdc represents the dc bus voltage; sx(i) The inverter switching state is represented, x is a, B and C respectively represent an A phase, a B phase and a C phase; i ═ 1, 2, 3 denotes the selected candidate vector, Sx(i)＝-1，0，1；ud.(k)、uq(k) Representing the voltage component at d-q coordinates at time k; i.e. id(k+1)、iq(k +1) represents a predicted current value at the d-q coordinate at the k +1 moment; i.e. id(k)、iq(k) Representing the current measurement in d-q coordinates at time k.
Further, the method for obtaining the optimal voltage vector by minimizing the cost function and the midpoint potential balance comprises the following steps: firstly, the psi* d(k+1)、ψ* q(k +1) and ψd(k +1) and ψq(k +1) sending the signals into a value function (19) for comparison to select an optimal action vector, if the selected optimal action vector is a small vector, judging whether the small vector is favorable for midpoint potential balance, and if the selected optimal action vector is unfavorable for midpoint potential balance, selecting a corresponding redundant small vector for substitution;
Figure BDA0002009576560000051
wherein, i ═ {1, 2, 3 }; the method for judging whether the small vector is beneficial to the midpoint potential balance comprises the following steps:
firstly, defining a fluctuation range H allowed by the midpoint potential, detecting the state of the current midpoint potential, if the current midpoint potential is within the fluctuation range allowed by the midpoint potential or is higher than H, indicating that the currently selected negative small vector is favorable for midpoint potential balance, and if the current midpoint potential is lower than-H, indicating that the currently selected negative small vector is unfavorable for midpoint potential balance.
Further, the method for calculating the optimal voltage vector duty ratio under the condition that the predicted value of the flux linkage reaches the reference value at the time k +1 comprises the following steps: obtaining the q-axis flux linkage psi under the action of zero vector according to the formula (20)qSlope S of0(ii) a Then, the q-axis flux linkage psi under the action of the optimal vector is obtained according to the formula (21)qSlope S ofopt(ii) a Finally, the optimal vector duty ratio gamma is obtained according to the formula (22)opt；
Figure BDA0002009576560000052
Figure BDA0002009576560000053
Figure BDA0002009576560000054
Wherein u isq(k)|optRepresenting the component of the optimal voltage vector at the time k on the q axis; psiq refRepresenting the component of the reference flux linkage in the q-axis.
Has the advantages that: the invention is based on the three-level inverter permanent magnet synchronous motor, constructs a cost function taking stator flux linkage as a control variable, avoids the design of weight coefficients, reduces torque pulsation through double-vector action, reduces the number of preferred vectors of the cost function through a partition selection mode, reduces the calculated amount, and considers the balance of midpoint potential.
Drawings
FIG. 1 is a schematic diagram of a bi-vector model predictive flux linkage control of a three-level permanent magnet synchronous motor according to the present invention;
FIG. 2 is a flowchart of flux linkage control predicted by a dual vector model of a three-level permanent magnet synchronous motor according to the present invention;
FIG. 3 is a plot of a three-level space voltage vector profile for a sector selection;
FIG. 4 is a dynamic simulation diagram of flux linkage control predicted by a three-level permanent magnet synchronous motor dual-vector model;
FIG. 5 is a simulation diagram of the midpoint potential balance in flux linkage control predicted by a dual vector model of a three-level permanent magnet synchronous motor.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
A schematic diagram of a three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method is shown in fig. 1 and comprises a rotating speed loop PI controller module 1, a given flux linkage calculation module 2, a minimum objective function module 3, a midpoint potential balance module 4, a duty ratio output module 5, an inverter module 6, a permanent magnet synchronous motor module 7, an encoder module 8, a stator flux linkage prediction module 9 and a stator flux linkage and torque calculation module 10.
As shown in fig. 2, the method comprises the following steps:
step 1: obtaining a reference torque T according to a rotating speed loop PI controllere ref：
Will refer to the speed
Figure BDA0002009576560000061
With the actual speed omegarDifference e ofnInputting a rotating speed loop PI controller, and obtaining a reference torque T according to a formula (1)e ref；
Figure BDA0002009576560000062
Wherein k ispAnd kiRespectively, proportional gain and integral gain of the rotating speed PI controller, and s is a complex variable.
Step 2: obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrThen, the electrical angle theta is obtained through the formula (2)rWith respect to the differentiation of time, an electrical angular velocity ω is obtainedr(ii) a Remeasure permanent magnet synchronous motor k moment three-phase stator current ia、ibAnd icObtaining alpha-beta component i of stator current at the moment k after Clark conversion of formula (3)αAnd iβObtaining d-q component i of stator current at the moment k through Park conversion of formula (4)dAnd iq；
Figure BDA0002009576560000063
Figure BDA0002009576560000064
Figure BDA0002009576560000065
And step 3: obtaining a flux linkage measurement psi at time k using a stator flux linkage and torque calculation modules(k) Angle δ (k) to d-axis:
firstly, calculating a k time magnetic linkage measurement value psi in d-q coordinates according to formula (5)sd(k) And psisq(k) (ii) a Then, the k time flux linkage measurement value psi under the alpha-beta coordinate is obtained through the inverse Park transformation of the formula (6)sα(k) And psisβ(k) (ii) a Then, the measured value psi of the magnetic linkage at the k moment is obtained according to the formula (7)s(k) Angle theta with alpha axiss(ii) a Finally, the measured value psi of the flux linkage at the time k can be obtained according to the formula (8)s(k) An included angle delta (k) with the d axis;
Figure BDA0002009576560000071
Figure BDA0002009576560000072
Figure BDA0002009576560000073
δ(k)＝θs-θr (8)
wherein L isd、LqD-q axis inductance components, respectively; psifRepresents a permanent magnet flux linkage;
Figure BDA0002009576560000074
respectively, the current components at the d-q coordinates at time k.
And 4, step 4: calculating a reference value psi of flux linkage at d-q coordinate at time k +1 by a given flux linkage calculation module* d(k+1)、ψ* q(k+1)：
Firstly, deriving a formula (10) according to a formula (9); then, the flux linkage reference value psi at the time k +1 is obtained according to the formula (10)* sThe (k +1) and the reference value psi of the flux linkage at the time k* s(k) An increment angle Δ δ (k +1) therebetween; then, the reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is obtained according to the formula (11)* d(k+1)、ψ* q(k+1)；
Figure BDA0002009576560000075
Figure BDA0002009576560000076
Figure BDA0002009576560000077
Wherein n ispRepresenting the pole pair number of the permanent magnet synchronous motor; t ise(k) Representing the torque measurement at time k; dTeThe term/d delta denotes the torque T at time ke(k) Derivative of the angle δ (k).
And 5: obtaining a predicted value psi of flux linkage under d-q coordinates at the moment k +1 by a stator flux linkage prediction moduled(k+1)、ψq(k+1)：
The first step is as follows: calculating a voltage reference value u under an alpha-beta coordinate system at the moment k +1 according to a formula (12)sα ref(k +1) and usβ ref(k+1)；
Figure BDA0002009576560000081
Wherein, TsRepresents the sampling period of the system; rsRepresenting the stator resistance;
the second step is that: calculating the k +1 time theta according to the equations (13) and (14)sReference value thetas ref(k+1)；
Figure BDA0002009576560000082
Order to
Figure BDA0002009576560000083
Then:
Figure BDA0002009576560000084
the space voltage vector is equally divided into 12 intervals by 30 degrees, as shown in fig. 3, the screening process of the alternative vector is further explained by taking the interval 1 as an example, in the interval 1, three zero vectors (000111222), a positive small vector (211) for increasing the midpoint potential, a negative small vector (211) for decreasing the midpoint potential, a middle vector (210) and a large vector (200) are obviously seen, for the zero vector, the vector is used as a second action vector in the double-vector control, therefore, the zero vector can not be considered here, and for the positive small vector, the positive small vector is considered in the subsequent midpoint potential balancing process, and is not considered here, so that the alternative vector is reduced into three vectors, namely a large vector, a negative small vector and a middle vector according to thetas refThe value of (k +1) is used to determine the section where the reference vector is located, and when 0 is found by the formula (14)<θs ref(k+1)<Pi/6 can judge that the reference vector is in the interval 1, if pi/6<θs ref(k+1)<Pi/3 is that the reference vector is in the interval 2, and the position of the reference vector can be judged by analogy;
the third step: the predicted value ψ of the flux linkage at the time point k +1 and the d-q coordinates is obtained from the candidate vector of the section in which the reference vector is located by the equations (15), (16), (17) and (18)d(k +1) and ψq(k+1)；
Figure BDA0002009576560000091
Figure BDA0002009576560000092
Figure BDA0002009576560000093
Figure BDA0002009576560000094
Wherein u issα(k)、usβ(k) Representing the voltage component at time k in the alpha-beta coordinate; vdc represents the dc bus voltage; sx(i) Indicating the inverter switching state (x ═ a, b, c; i ═ 1, 2, 3), Sx(i)＝-1，0，1；ud.(k)、uq(k) Representing the voltage component at d-q coordinates at time k; i.e. id(k+1)、iq(k +1) represents a predicted current value at the d-q coordinate at the k +1 moment; i.e. id(k)、iq(k) Representing the current measurement in d-q coordinates at time k.
Step 6: obtaining an optimal voltage vector by minimizing a cost function and a midpoint potential balance:
firstly, psi* d(k+1)、ψ* q(k +1) and ψd(k +1) and ψq(k +1) is sent to a cost function (19) to be compared and an optimal action vector is selected, if the selected optimal action vector is a small vector, whether the small vector is favorable for the midpoint potential or not is judgedAnd (4) balancing. Firstly, defining the fluctuation range H allowed by the midpoint potential to be 0.5, wherein the selected candidate small vectors are negative small vectors which can cause the midpoint potential to shift downwards, so that the state of the current midpoint potential is detected, if the current midpoint potential is within the fluctuation range allowed by the midpoint potential or higher than H, the currently selected negative small vectors are favorable for midpoint potential balance, and therefore, the replacement is not performed, and if the current midpoint potential is lower than-H, the currently selected negative small vectors are unfavorable for midpoint potential balance, and corresponding redundant small vectors are required to be selected for replacement;
Figure BDA0002009576560000095
where, i ═ {1, 2, 3 }.
And 7: calculating the optimal voltage vector duty ratio according to the condition that the predicted value of the flux linkage reaches the reference value at the moment k + 1:
obtaining the q-axis flux linkage psi under the action of zero vector according to the formula (20)qSlope S of0(ii) a Then, the q-axis flux linkage psi under the action of the optimal vector is obtained according to the formula (21)qSlope S ofopt(ii) a Finally, the optimal vector duty ratio gamma is obtained according to the formula (22)opt；
Figure BDA0002009576560000101
Figure BDA0002009576560000102
Figure BDA0002009576560000103
Wherein u isq(k)|optRepresenting the component of the optimal voltage vector at the time k on the q axis; psiq refRepresenting the component of the reference flux linkage in the q-axis.
The method firstly obtains three-phase current i at the moment ka、ib、icElectric angle of rotor thetarAngular velocity ω of rotorrAnd a given torque Te refAnd a reference flux linkage psis ref(ii) a Then calculating load angle increment delta and load angle reference value delta at the moment of k +1refAnd acquires a reference component psi of the flux linkage dq axis at the time k +1* d(k+1)、ψ* q(k +1), judging the position of the reference vector at the moment of k +1 to select the interval; the predicted component ψ of the flux linkage dq axis at time k +1 is then calculatedd(k+1)、ψq(k +1), selecting a cost function g from the cost functionsiA minimum voltage vector; then carrying out neutral point potential balance processing to select an optimal voltage vector; and finally, calculating the duty ratio of the optimal voltage vector, and outputting the inverter switching state corresponding to the optimal voltage vector.
The results of the two-vector model prediction flux linkage control simulation of the three-level permanent magnet synchronous motor are shown in fig. 4 and 5. The left side of the graph 4 is a simulation graph of the rotating speed, the torque and the current of the three-level permanent magnet synchronous motor under the action of a single vector, the right side of the graph is a simulation graph of the rotating speed, the torque and the current of the three-level permanent magnet synchronous motor under the action of double vectors, and the simulation comparison of the single vector and the double vectors shows that the control effect of the double vectors is better and the torque ripple can be effectively reduced. Fig. 5 is a simulation diagram of the midpoint potential suppression, and it can be seen from fig. 5 that the suppression effect on the midpoint potential is significant.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (6)

1.一种三电平永磁同步电机双矢量模型预测磁链控制方法，其特征在于，包括如下步骤：首先，根据转速环PI控制器得到参考转矩Te ref；再从编码器中得到永磁同步电机的电角度θr和电角速度ωr，并获取k时刻的三相定子电流ia、ib和ic，经Clark变换获取k时刻定子电流的α-β分量iα和iβ，再经过Park变换后得到k时刻定子电流的d-q分量id和iq；然后，利用定子磁链及转矩计算模块来获取k时刻磁链测量值ψs(k)与d轴的夹角δ(k)；再通过给定磁链计算模块来计算k+1时刻d-q坐标下磁链的参考值ψ* d(k+1)、ψ* q(k+1)；之后，通过定子磁链预测模块来获取k+1时刻d-q坐标下磁链的预测值ψd(k+1)、ψq(k+1)；然后，通过最小化价值函数和中点电位平衡来获最优电压矢量；最后，根据k+1时刻磁链预测值达到参考值为条件计算最优电压矢量占空比；1. a three-level permanent magnet synchronous motor dual vector model prediction flux linkage control method, is characterized in that, comprises the steps: at first, obtain reference torque T e ref according to rotational speed loop PI controller; Obtain from encoder again The electrical angle θ r and electrical angular velocity ω r of the permanent magnet synchronous motor are obtained, and the three-phase stator currents i a , ib and ic at time k are obtained, and the α-β components i α and i of the stator current at time k are obtained by Clark transformation β , after the Park transformation, the dq components id and i q of the stator current at time k are obtained; then, the stator flux linkage and torque calculation module are used to obtain the measured value of the flux linkage at time k ψ s (k) and the clamp of the d-axis Angle δ(k); then calculate the reference values ψ * d (k+1), ψ * q (k+1) of the flux linkage under the dq coordinate at the time k+1 through the given flux linkage calculation module; after that, through the stator The flux linkage prediction module is used to obtain the predicted values ψ d (k+1) and ψ q (k+1) of the flux linkage at the dq coordinate at the time k+1; then, the optimal value is obtained by minimizing the value function and the midpoint potential balance. voltage vector; finally, the optimal voltage vector duty cycle is calculated according to the condition that the predicted value of the flux linkage at time k+1 reaches the reference value; 其中，所述通过给定磁链计算模块来计算k+1时刻d-q坐标下磁链的参考值ψ* d(k+1)、ψ* q(k+1)的方法为：根据公式(10)求得k+1时刻的磁链参考值ψ* s(k+1)与k时刻磁链参考值ψ* s(k)之间的增量角Δδ(k+1)；再根据公式(11)求得k+1时刻d-q坐标下磁链的参考值ψ* d(k+1)、ψ* q(k+1)；Wherein, the method for calculating the reference values ψ * d (k+1) and ψ * q (k+1) of the flux linkage under the dq coordinate at the time k+1 by a given flux linkage calculation module is: according to formula (10 ) to obtain the incremental angle Δδ(k+1) between the reference value of flux linkage at time k+1 ψ * s (k+1) and the reference value of flux linkage at time k ψ * s (k); then according to the formula ( 11) Obtain the reference values ψ * d (k+1) and ψ * q (k+1) of the flux linkage under the dq coordinate at the time k+1;
Figure FDA0002953346380000011
Figure FDA0002953346380000011
Figure FDA0002953346380000012
Figure FDA0002953346380000012
 其中，np表示永磁同步电机极对数；Te(k)表示k时刻转矩测量值；Ld、Lq分别是d-q轴电感分量；ψf表示永磁体磁链；Among them, n p represents the number of pole pairs of the permanent magnet synchronous motor; T e (k) represents the torque measurement value at time k; L d and L q are the dq-axis inductance components respectively; ψ f represents the permanent magnet flux linkage; 所述通过定子磁链预测模块来获取k+1时刻d-q坐标下磁链的预测值ψd(k+1)和ψq(k+1)的方法为：The method for obtaining the predicted values ψ d (k+1) and ψ q (k+1) of the flux linkage at the dq coordinate at time k+1 through the stator flux linkage prediction module is: 第一步：根据公式(12)计算k+1时刻α-β坐标系下的电压参考值usα ref(k+1)和usβ ref(k+1)；Step 1: Calculate the voltage reference values u sα ref (k+1) and u sβ ref (k+1) in the α-β coordinate system at time k+1 according to formula (12);
Figure FDA0002953346380000013
Figure FDA0002953346380000013
 其中，Ts表示系统的采样周期；Rs表示定子电阻；Among them, T s represents the sampling period of the system; R s represents the stator resistance; 第二步：根据公式(13)和(14)计算k+1时刻θs参考值θs ref(k+1)；Step 2: Calculate the reference value θ s ref (k+1) of θ s at time k+1 according to formulas (13) and (14);
Figure FDA0002953346380000021
Figure FDA0002953346380000021
 令
Figure FDA0002953346380000022
则：make
Figure FDA0002953346380000022
but:
Figure FDA0002953346380000023
Figure FDA0002953346380000023
 将空间电压矢量以30度为区间等分成12个区间，每个区间选取一个大矢量、一个负小矢量以及一个中矢量作为备选矢量；再根据θs ref(k+1)的值判断参考矢量所在区间，再根据θs ref(k+1)的值判断参考矢量所在区间；Divide the space voltage vector into 12 intervals with 30 degrees as the interval, and select a large vector, a negative small vector and a medium vector as the candidate vectors for each interval; then judge the reference according to the value of θ s ref (k+1). The interval where the vector is located, and then judge the interval where the reference vector is located according to the value of θ s ref (k+1); 第三步：根据参考矢量所在区间的备选矢量，通过公式(15)、(16)、(17)、(18)求得k+1时刻d-q坐标下磁链的预测值ψd(k+1)和ψq(k+1)；Step 3: According to the candidate vector in the interval where the reference vector is located, the predicted value ψ d (k+ 1) and ψ q (k+1);
Figure FDA0002953346380000024
Figure FDA0002953346380000024
Figure FDA0002953346380000025
Figure FDA0002953346380000025
Figure FDA0002953346380000026
Figure FDA0002953346380000026
Figure FDA0002953346380000027
Figure FDA0002953346380000027
 其中，usα(k)、usβ(k)表示k时刻α-β坐标下的电压分量；Vdc表示直流母线电压；Sx(i)表示逆变器开关状态，x＝a，b，c分别表示A相、B相和C相；i＝1，2，3表示所选择的备选矢量，Sx(i)＝-1，0，1；ud(k)、uq(k)表示k时刻d-q坐标下的电压分量；id(k+1)、iq(k+1)表示k+1时刻d-q坐标下的电流预测值；id(k)、iq(k)表示k时刻d-q坐标下的电流测量值。Among them, u sα (k), u sβ (k) represent the voltage component at the α-β coordinate at time k; Vdc represents the DC bus voltage; S x (i) represents the inverter switching state, x=a, b, c Represent A phase, B phase and C phase respectively; i=1, 2, 3 represent the selected candidate vector, S x (i)=-1, 0, 1; ud (k), u q (k) Represents the voltage component at dq coordinates at time k; id (k+1), i q (k+1) represent the predicted current value at dq coordinates at time k+1; id (k), i q (k) represent Current measurement in dq coordinates at time k. 2.根据权利要求1所述的三电平永磁同步电机双矢量模型预测磁链控制方法，其特征在于，将参考速度
Figure FDA0002953346380000031
与电角速度ωr的差值en输入转速环PI控制器，根据公式(1)获得所述参考转矩Te ref；2. the three-level permanent magnet synchronous motor double vector model prediction flux linkage control method according to claim 1, is characterized in that, will reference speed
Figure FDA0002953346380000031
The difference e n from the electrical angular velocity ω r is input to the rotational speed loop PI controller, and the reference torque T e ref is obtained according to formula (1);
Figure FDA0002953346380000032
Figure FDA0002953346380000032
 其中，kp和ki分别为转速PI控制器的比例增益和积分增益，s为复变量。Among them, k p and k i are the proportional gain and integral gain of the speed PI controller, respectively, and s is a complex variable. 3.根据权利要求1所述的三电平永磁同步电机双矢量模型预测磁链控制方法，其特征在于，从编码器中获取永磁同步电机的电角度θr，再经式(2)求电角度θr关于时间的微分，得到电角速度ωr；再测量永磁同步电机k时刻三相定子电流ia、ib和ic，经公式(3)的Clark变换后得到k时刻定子电流的α-β分量iα和iβ，再经公式(4)的Park变换后得到k时刻定子电流的d-q分量id和iq；3. The three-level permanent magnet synchronous motor double vector model prediction flux linkage control method according to claim 1, is characterized in that, obtains the electrical angle θ r of the permanent magnet synchronous motor from the encoder, and then uses formula (2) Calculate the differential of the electrical angle θ r with respect to time to obtain the electrical angular velocity ω r ; then measure the three-phase stator currents i a , i b and i c of the permanent magnet synchronous motor at time k, and obtain the stator at time k after the Clark transformation of formula (3). The α-β components i α and i β of the current are obtained after the Park transformation of formula (4) to obtain the dq components id and i q of the stator current at time k;
Figure FDA0002953346380000033
Figure FDA0002953346380000033
Figure FDA0002953346380000034
Figure FDA0002953346380000034
Figure FDA0002953346380000035
Figure FDA0002953346380000035
 4.根据权利要求1所述的三电平永磁同步电机双矢量模型预测磁链控制方法，其特征在于，所述k时刻磁链测量值ψs(k)与d轴的夹角δ(k)的获取方法为：首先根据公式(5)计算d-q坐标下的k时刻磁链测量值ψsd(k)与ψsq(k)；然后通过公式(6)的反Park变换求得α-β坐标下的k时刻磁链测量值ψsα(k)与ψsβ(k)；再根据公式(7)求得k时刻磁链测量值ψs(k)与α轴的夹角θs；最后根据公式(8)可以求得k时刻磁链测量值ψs(k)与d轴的夹角δ(k)；4. the three-level permanent magnet synchronous motor double vector model prediction flux linkage control method according to claim 1, is characterized in that, described k moment flux linkage measurement value ψ s (k) and the angle δ ( The acquisition method of k) is: firstly calculate the flux linkage measurement values ψ sd (k) and ψ sq (k) at time k under dq coordinates according to formula (5); then obtain α- The flux linkage measurement value ψ sα (k) and ψ sβ (k) at time k under the β coordinate; then according to formula (7), the angle θ s between the flux linkage measurement value ψ s (k) at time k and the α axis is obtained; Finally, according to formula (8), the angle δ(k) between the measured value of the flux linkage at time k ψ s (k) and the d axis can be obtained;
Figure FDA0002953346380000036
Figure FDA0002953346380000036
Figure FDA0002953346380000037
Figure FDA0002953346380000037
Figure FDA0002953346380000038
Figure FDA0002953346380000038
 δ(k)＝θs-θr (8)δ(k)=θ s -θ r (8) 其中，Ld、Lq分别是d-q轴电感分量；ψf表示永磁体磁链；
Figure FDA0002953346380000039
分别是k时刻d-q坐标下电流分量。Among them, L d and L q are the dq-axis inductance components respectively; ψ f represents the permanent magnet flux linkage;
Figure FDA0002953346380000039
are the current components at the dq coordinates at time k, respectively. 5.根据权利要求1所述的三电平永磁同步电机双矢量模型预测磁链控制方法，其特征在于，所述通过最小化价值函数和中点电位平衡来获最优电压矢量的方法为：首先将所述ψ* d(k+1)、ψ* q(k+1)和ψd(k+1)和ψq(k+1)送入价值函数(19)中进行比较选出最优作用矢量，如果选出的最优作用矢量是小矢量，则判断所述小矢量是否有利于中点电位平衡，如果不利于中点电位平衡则选择相对应冗余小矢量进行替代；5. the three-level permanent magnet synchronous motor dual vector model prediction flux linkage control method according to claim 1, is characterized in that, the described method that obtains optimal voltage vector by minimizing value function and midpoint potential balance is: : First, the ψ * d (k+1), ψ * q (k+1), ψ d (k+1) and ψ q (k+1) are sent to the value function (19) for comparison and selection Optimal action vector, if the selected optimal action vector is a small vector, it is judged whether the small vector is conducive to the balance of the mid-point potential, and if it is not conducive to the balance of the mid-point potential, the corresponding redundant small vector is selected for replacement;
Figure FDA0002953346380000041
Figure FDA0002953346380000041
 其中，i＝{1，2，3}；判断所述小矢量是否有利于中点电位平衡的方法为：Wherein, i={1, 2, 3}; the method for judging whether the small vector is conducive to the balance of the midpoint potential is: 首先定义中点电位允许的波动范围H，对当前中点电位的状态进行检测，如果当前中点电位在中点电位允许的波动范围内或者高于H，则说明当前选择的负小矢量有利于中点电位平衡，如果当前中点电位低于-H，则说明当前选择的负小矢量不利于中点电位平衡。First, define the allowable fluctuation range H of the midpoint potential, and detect the state of the current midpoint potential. If the current midpoint potential is within the allowable fluctuation range of the midpoint potential or higher than H, it means that the currently selected negative small vector is beneficial to The midpoint potential is balanced. If the current midpoint potential is lower than -H, it means that the currently selected negative small vector is not conducive to the midpoint potential balance. 6.根据权利要求1所述的三电平永磁同步电机双矢量模型预测磁链控制方法，其特征在于，所述根据k+1时刻磁链预测值达到参考值为条件计算最优电压矢量占空比的方法为：根据公式(20)求得零矢量作用下q轴磁链ψq的斜率S0；然后，根据公式(21)求得最优矢量作用下q轴磁链ψq的斜率Sopt；最后，根据公式(22)求得最优矢量占空比γopt；6. The three-level permanent magnet synchronous motor dual-vector model predictive flux linkage control method according to claim 1, wherein the optimal voltage vector is calculated according to the condition that the predicted value of the flux linkage at time k+1 reaches the reference value The method of duty cycle is: according to formula (20) to obtain the slope S 0 of the q-axis flux linkage ψ q under the action of the zero vector; then, according to formula (21) to obtain the q-axis flux linkage ψ q under the action of the optimal vector. Slope S opt ; finally, obtain the optimal vector duty cycle γ opt according to formula (22);
Figure FDA0002953346380000042
Figure FDA0002953346380000042
Figure FDA0002953346380000043
Figure FDA0002953346380000043
Figure FDA0002953346380000044
Figure FDA0002953346380000044
 其中，uq(k)|opt表示k时刻最优电压矢量在q轴的分量；ψq ref表示参考磁链在q轴的分量；Ld、Lq分别是d-q轴电感分量；ψf表示永磁体磁链；Rs表示定子电阻；ψq(k)表示k时刻磁链的q轴分量。Among them, u q (k) | opt represents the component of the optimal voltage vector on the q axis at time k; ψ q ref represents the component of the reference flux linkage on the q axis; L d and L q are the dq axis inductance components respectively; ψ f represents Permanent magnet flux linkage; R s represents the stator resistance; ψ q (k) represents the q-axis component of the flux linkage at time k.
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